/*
  This file is part of CanFestival, a library implementing CanOpen
  Stack.

  Copyright (C): Edouard TISSERANT and Francis DUPIN

  See COPYING file for copyrights details.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
  USA
*/
/*!
** @file   nmtSlave.c
** @author Edouard TISSERANT and Francis DUPIN
** @date   Tue Jun  5 08:50:53 2007
**
** @brief
**
**
*/
#include "nmtSlave.h"
#include "states.h"
#include "canfestival.h"
#include "sysdep.h"

/*!
** put the slave in the state wanted by the master
**
** @param d
** @param m
**/
void proceedNMTstateChange(CO_Data* d, Message* m)
{
    if (d->nodeState == Pre_operational ||
        d->nodeState == Operational ||
        d->nodeState == Stopped)
    {
        MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
        /* Check if this NMT-message is for this node */
        /* byte 1 = 0 : all the nodes are concerned (broadcast) */
        if (((*m).data[1] == 0) || ((*m).data[1] == *d->bDeviceNodeId))
        {
            switch ((*m).data[0])   /* command specifier (cs) */
            {
            case NMT_Start_Node:
                if ((d->nodeState == Pre_operational) || (d->nodeState == Stopped))
                {
                    setState(d, Operational);
                }
                break;
            case NMT_Stop_Node:
                if (d->nodeState == Pre_operational ||
                    d->nodeState == Operational)
                {
                    setState(d, Stopped);
                }
                break;
            case NMT_Enter_PreOperational:
                if (d->nodeState == Operational ||
                    d->nodeState == Stopped)
                {
                    setState(d, Pre_operational);
                }
                break;
            case NMT_Reset_Node:
                if (d->NMT_Slave_Node_Reset_Callback != NULL)
                {
                    d->NMT_Slave_Node_Reset_Callback(d);
                }
                setState(d, Initialisation);
                break;
            case NMT_Reset_Comunication:
            {
                UNS8 currentNodeId = getNodeId(d);
                if (d->NMT_Slave_Communications_Reset_Callback != NULL)
                {
                    d->NMT_Slave_Communications_Reset_Callback(d);
                }
#ifdef CO_ENABLE_LSS
                // LSS changes NodeId here in case lss_transfer.nodeID doesn't
                // match current getNodeId()
                if (currentNodeId != d->lss_transfer.nodeID)
                {
                    currentNodeId = d->lss_transfer.nodeID;
                }
#endif
                // clear old NodeId to make SetNodeId reinitializing
                // SDO, EMCY and other COB Ids
                *d->bDeviceNodeId = 0xFF;
                setNodeId(d, currentNodeId);
            }
            setState(d, Initialisation);
            break;
            }/* end switch */
        }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
        bDeviceNodeId ) ) */
    }
}


/*!
**
**
** @param d
**
** @return
**/
UNS8 slaveSendBootUp(CO_Data* d)
{
    Message m;
#ifdef CO_ENABLE_LSS
    if (*d->bDeviceNodeId == 0xFF)
    {
        return 0;
    }
#endif
    MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
    /* message configuration */
    {
        UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId;
        m.cob_id = UNS16_LE(tmp);
    }
    m.rtr = NOT_A_REQUEST;
    m.len = 1;
    m.data[0] = 0x00;
    return canSend(d->canHandle, &m);
}

